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Add rotation switching to flow from mavlink

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M.H.Kabir
2014-12-27 23:16:09 +05:30
parent d40168dc4b
commit 11a14c2c3d
2 changed files with 8 additions and 1 deletions
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src/drivers/px4flow/px4flow.cpp
+1 -1
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@@ -546,7 +546,7 @@ PX4FLOW::collect()
report.sensor_id = 0;
/* rotate measurements to flight controller frame */
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, report.ground_distance_m);
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, report.ground_distance_m); // XXX Check this
if (_px4flow_topic < 0) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
src/modules/mavlink/mavlink_receiver.cpp
+7
View File
@@ -68,6 +68,8 @@
#include <mathlib/mathlib.h>
#include <conversion/rotation.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
@@ -357,6 +359,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
/* optical flow */
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
enum Rotation flow_rot;
param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
@@ -374,6 +379,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, f.ground_distance_m); // XXX Check this
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);